JPH0336974A - Method of controlling regenerated power-discharging transistor - Google Patents
Method of controlling regenerated power-discharging transistorInfo
- Publication number
- JPH0336974A JPH0336974A JP1167982A JP16798289A JPH0336974A JP H0336974 A JPH0336974 A JP H0336974A JP 1167982 A JP1167982 A JP 1167982A JP 16798289 A JP16798289 A JP 16798289A JP H0336974 A JPH0336974 A JP H0336974A
- Authority
- JP
- Japan
- Prior art keywords
- circuit
- discharging
- transistor
- voltage
- resistor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000007599 discharging Methods 0.000 title claims abstract description 23
- 238000000034 method Methods 0.000 title claims description 7
- 239000003990 capacitor Substances 0.000 claims abstract description 34
- 238000009499 grossing Methods 0.000 claims abstract description 18
- 230000001172 regenerating effect Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 abstract description 4
- 238000007796 conventional method Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000008929 regeneration Effects 0.000 description 2
- 238000011069 regeneration method Methods 0.000 description 2
- 230000001629 suppression Effects 0.000 description 2
- 206010011224 Cough Diseases 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010992 reflux Methods 0.000 description 1
Landscapes
- Stopping Of Electric Motors (AREA)
- Inverter Devices (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野〕
本発明はその負荷交流電動機に対する回生制動機能を備
えた電圧形インバータの回生電力放電回路における放電
用トランジスタの制御方法に関する。DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method of controlling a discharging transistor in a regenerative power discharging circuit of a voltage source inverter having a regenerative braking function for a load AC motor.
従来のこの種の回生電力放電回路における放電用トラン
ジスタの制御方法としては、電圧形インバータの負荷電
動機制動時の回生電力量に従って昇圧されるその直流中
間回路出力側平滑コンデンサの端子電圧がその設定値よ
り大成いは小である画状！ｌに対応して前記放電用トラ
ンジスタをそれぞれ連続的に導通或いはしゃ断させるも
のが知られている。すなわち前記トランジスタの導通動
作により該トランジスタに直列接続された放電用抵抗に
おいて前記平滑コンデンサの端子電圧を上昇させた前記
の回生電力量を連続的に消費させ該コンデンサ端子電圧
を元に復させるものである。The conventional method for controlling the discharging transistor in this type of regenerative power discharging circuit is to set the terminal voltage of the smoothing capacitor on the output side of the DC intermediate circuit, which is boosted according to the amount of regenerated power during braking of the load motor of the voltage source inverter, to its set value. A drawing that is bigger and smaller! A device is known in which the discharge transistors are respectively turned on or off in a continuous manner in response to l. That is, by the conduction operation of the transistor, the regenerated electric power that has increased the terminal voltage of the smoothing capacitor is continuously consumed in a discharging resistor connected in series with the transistor, and the capacitor terminal voltage is restored to the original state. be.
しかしながら上記の如き従来方式における回生電力放電
用トランジスタの導通制御は前記平滑コンデンサの端子
電圧がその設定値に比して大か否かの電圧比較結果を唯
一の条件として連続的な導通或いはしゃ断動作を行うも
のであり、導通制御期間における前記放電抵抗の抵抗値
は一定となり、従って該抵抗値が前記電動機制動時の回
生電力量をその所要制動時内に消費させるに適した値で
あるか否かの抵抗値適合性と該抵抗値における消費電力
量が前記放電抵抗自体の短時間許容損失特性に対応する
許容印加電力量以内にあるか否かの容量適合性との両面
からの制約は無く、従って前記放電抵抗の抵抗値が不適
当に大なる場合にはその消費電力量不足から前記コンデ
ンサ端子電圧の一層の上昇を招き、またその抵抗値不足
によりその消費電力量がその許容印加電力量を超過する
場合には前記放電抵抗は焼損に至る。However, the conduction control of the regenerative power discharging transistor in the conventional method as described above is based on the voltage comparison result of whether the terminal voltage of the smoothing capacitor is higher than the set value, and the only condition is continuous conduction or cut-off operation. The resistance value of the discharge resistor is constant during the conduction control period, and therefore, it is determined whether the resistance value is a value suitable for consuming the regenerated electric power during braking of the motor within the required braking time. There are no restrictions from both the compatibility of the resistance value and the compatibility of the capacity, which is whether the power consumption at the resistance value is within the allowable applied power amount corresponding to the short-time allowable loss characteristics of the discharge resistor itself. Therefore, if the resistance value of the discharge resistor becomes inappropriately large, the voltage at the capacitor terminals will further increase due to the insufficient power consumption, and due to the insufficient resistance value, the power consumption will exceed the allowable applied power amount. If the discharge resistance exceeds 100%, the discharge resistor will burn out.
上記に鑑み本発明は、前記電動機制動時のコンデンサ端
子電圧の上昇抑制と前記放電抵抗での電力消費とを最適
となすように等価放電抵抗値を可変制御し安定したイン
バータ運転を可能とする回生電力放電用トランジスタの
制御方法の提供を目的とするものである。In view of the above, the present invention provides regeneration that enables stable inverter operation by variably controlling the equivalent discharge resistance value so as to optimize the suppression of the increase in capacitor terminal voltage during braking of the motor and the power consumption in the discharge resistor. The object of the present invention is to provide a method for controlling a power discharge transistor.
上記目的を達成するために、本発明の回生電力放電用ト
ランジスタの制御方法は、電圧形インバータの直流中間
回路出力側平滑コンデンサに並列に接続され前記インバ
ータの負荷電動機制動時の回生電力放電回路を構成する
回生電力放電用の抵抗とトランジスタとの直列回路にお
ける該放電用トランジスタの制御方法であって、前記平
滑コンデンサの端子電圧がその設定値より大となった場
合に、前記放電用抵抗に対し前記電動機からの回生電力
量を所定の制動時間内に消費するに適当な等価抵抗値を
与え且つその消費電力がその許容ｔ０失特性指定値以下
となるように適当に演算された通流率に従って前記放電
用トランジスタを導通・しゃ断制御するものである。In order to achieve the above object, the present invention provides a method for controlling a regenerative power discharging transistor, which is connected in parallel to a smoothing capacitor on the output side of a DC intermediate circuit of a voltage source inverter to control a regenerative power discharging circuit when braking a load motor of the inverter. A method for controlling a discharging transistor in a series circuit consisting of a regenerative power discharging resistor and a transistor, wherein when the terminal voltage of the smoothing capacitor becomes higher than its set value, According to an appropriately calculated conduction rate so as to provide an appropriate equivalent resistance value to consume the regenerated electric power from the electric motor within a predetermined braking time, and so that the power consumption is less than the specified value of the allowable t0 loss characteristic. It controls conduction/cutoff of the discharge transistor.
直流中間回路出力側平滑コンデンサと電圧形インバータ
とその負荷交流電動機との直列構成における前記電動機
の減速制動時、該電動機は交流発電機として動作し前記
直列構成における電力の流れの方向は反転し、回転数減
速量に対応する前記電動機の回転エネルギは前記平滑コ
ンデンサへの流入電流となって回生され該流入電流の時
間積分値に比例した値としてその端子電圧を上昇させる
。During deceleration braking of the motor in a series configuration of a DC intermediate circuit output side smoothing capacitor, a voltage source inverter, and its load AC motor, the motor operates as an AC generator and the direction of power flow in the series configuration is reversed; The rotational energy of the motor corresponding to the amount of speed reduction is regenerated as an inflow current to the smoothing capacitor, and increases the terminal voltage thereof as a value proportional to the time integral value of the inflow current.
従って該端子電圧上昇はその減速時の前記電動機からの
回生電力量に従って変化し、減速完了による電力回生の
終了と共に前記電圧上昇も終了する。Therefore, the terminal voltage increase changes according to the amount of regenerated power from the electric motor during deceleration, and the voltage increase also ends when power regeneration ends due to completion of deceleration.
従って前記平滑コンデンサに並列に可変抵抗回路を接続
し、該回路において前記電動機の減速模様に応してその
抵抗値を変更し前記の回生電力量相当分の電力消費を行
わすならば、前記平滑コンデンサの端子電圧の上昇を適
度に抑制することが可能となる。Therefore, if a variable resistance circuit is connected in parallel to the smoothing capacitor, and the resistance value of the circuit is changed in accordance with the deceleration pattern of the motor to consume power equivalent to the amount of regenerated power, the smoothing capacitor It becomes possible to appropriately suppress an increase in the terminal voltage of the capacitor.
また一般にその抵抗値がＲｏの抵抗とスイッチング素子
との直列回路において、該スイッチング素子をそのＯＮ
期間をｔｌ としｏＦＦ期間をｔｚとなす通流率αで断
続制御した場合、前記直列回路は下記の式（１）で示す
等価抵抗Ｒ１を有する可変抵抗回路とみなすことができ
る。Generally, in a series circuit of a resistor whose resistance value is Ro and a switching element, the switching element is turned on.
When intermittent control is performed at a conduction rate α with a period of tl and an oFF period of tz, the series circuit can be regarded as a variable resistance circuit having an equivalent resistance R1 expressed by the following equation (1).
Ｒ−＝Ｒａ／α ） −−−−−−
−−−−（ｔ）α−ｔ＋／ （ｔｌ ＋ ｂ）
従って上記可変抵抗回路において消費される平均電力Ｐ
、ｖとその期間Ｔにおける消費電力量ＷＨ，ｖとは前記
可変抵抗回路の印加電圧をＶＣとして下記の式（２）の
如くなる。R-=Ra/α) --------
----(t) α-t+/ (tl + b) Therefore, the average power P consumed in the above variable resistance circuit
, v and the amount of power consumption WH,v during the period T are expressed by the following equation (2), where VC is the applied voltage of the variable resistance circuit.
従って前記可変抵抗回路を前記平滑コンデンサに並列に
接続し、式（２）における電圧ＶＣと積分時間Ｔとをそ
れぞれ前記コンデンサの端子電圧と前記電動機の減速時
間とし、前記の電動機回生電力量と消費電力量ＷＨｏと
の差電力量に応じてその値の変化する前記電圧ｖｃに対
し前記通流率αを適当に調整し前記時間Ｔ経過時点にお
いて前記の差電力量を零となすことにより、前記コンデ
ンサ端子電圧の上昇を前記電動機の減速途中において適
当に抑制すると共に減速完了時点において零となすこと
が可能となる。Therefore, the variable resistance circuit is connected in parallel to the smoothing capacitor, and the voltage VC and integral time T in equation (2) are respectively the terminal voltage of the capacitor and the deceleration time of the motor, and the regenerative power amount and consumption of the motor are By appropriately adjusting the conduction rate α for the voltage vc whose value changes according to the difference power amount from the power amount WHo, and making the difference power amount zero at the time point when the time T has elapsed, It is possible to appropriately suppress the rise in the capacitor terminal voltage during deceleration of the motor and to make it zero at the time of completion of deceleration.
また抵抗はその抵抗値が小なる程その消費電力は大とな
り前記の如き電力消費の用途に適したものとなるが、一
方、抵抗への印加電力とその継続時間とは該抵抗独自の
耐熱特性により決定される繰返し許容損失特性或いは短
時間許容損失特性とにより制約される。従って前記の如
き可変抵抗回路に用いられ該抵抗回路の抵抗可変範囲を
広くなすためにその抵抗値を小とした抵抗に関しては、
前記の如きコンデンサ端子電圧の上昇抑制のみに着目し
た還流率制御を行うことは抵抗焼損の危険を招くことに
なり、従って前記の端子電圧上昇の抑制面より決定され
た前記通流率を前記の両許容損失特性に従って修正する
必要が生じる場合がある。In addition, the smaller the resistance value of a resistor, the greater its power consumption, making it suitable for the above-mentioned power consumption applications, but on the other hand, the power applied to the resistor and its duration depend on the heat resistance characteristics unique to the resistor. It is constrained by the repeatable allowable loss characteristics or short-term allowable loss characteristics determined by. Therefore, regarding the resistor used in the variable resistance circuit as described above and whose resistance value is reduced in order to widen the resistance variable range of the resistance circuit,
Controlling the current flow rate by focusing only on suppressing the rise in the capacitor terminal voltage as described above will lead to the risk of resistor burnout. It may be necessary to modify according to both allowable loss characteristics.
本発明は、前記コンデンサ端子電圧の所定値以上の上昇
時点以降に開始される該端子電圧の上昇抑制に関し、前
記電動機の減速量と所要減速時間と前記コンデンサ端子
電圧とから該端子電圧の上昇抑制上最適の通流率を演算
し、必要な場合、咳通流率をその値にめじて前記抵抗に
関する両許容損失特性の何れかに従って修正する通流率
指定動作をマイコン回路にて行わせ、前記コンデンサ端
子電圧の適度な上昇抑制及び減衰と適当な電力印加によ
る前記抵抗の所要容量の低減とを可能とするものである
。The present invention relates to suppressing a rise in the terminal voltage that starts after the time when the voltage at the capacitor terminals increases beyond a predetermined value, and suppressing the rise in the terminal voltage based on the amount of deceleration of the motor, the required deceleration time, and the voltage at the capacitor terminals. Calculate the optimum conduction rate, and if necessary, cause the microcomputer circuit to perform a conduction rate designation operation to correct the cough conductivity to that value according to either of the allowable dissipation characteristics related to the resistor, This makes it possible to appropriately suppress and attenuate the rise in the capacitor terminal voltage and to reduce the required capacity of the resistor by applying appropriate power.
以下この発明の実施例を第１図の回路図に従って説明す
る。Embodiments of the present invention will be described below with reference to the circuit diagram shown in FIG.
第１図において、１は交流型Ｈ，電圧を整流する整流器
、Ｃｒは該整流器の出力平滑用のコンデンサ、２は電圧
形インバータ、３は該インバータの負荷となる交流電動
機であり、前記の整流器１と平滑用コンデンサＣｒとは
前記インバータ２の直流中間回路を形成するものであり
、前記コンデンサＣｆの端子電圧■。は定常時には前記
交流電源電圧に対応する定格値となるが前記電動機３の
減速制動時にはその回生電力を受は昇圧する。In FIG. 1, 1 is an AC type H, a rectifier for rectifying voltage, Cr is a capacitor for smoothing the output of the rectifier, 2 is a voltage source inverter, 3 is an AC motor serving as a load of the inverter, and Cr is a capacitor for smoothing the output of the rectifier. 1 and the smoothing capacitor Cr form a DC intermediate circuit of the inverter 2, and the terminal voltage of the capacitor Cf is . In steady state, the voltage is the rated value corresponding to the AC power supply voltage, but when the motor 3 is decelerating and braking, the regenerated power is boosted.
次に、Ｒ６は前記コンデンサに蓄積される前記回生電力
に対する放電用抵抗、Ｔａは演算された通流率αでスイ
ッチング動作する放電用トランジスタであり、該トラン
ジスタＴ４と前記抵抗Ｒ４との直列回路は可変抵抗回路
を形威しその等価抵抗と消費平均電力とは前記通流率α
に従って変化する。Next, R6 is a discharging resistor for the regenerative power stored in the capacitor, Ta is a discharging transistor that performs a switching operation at the calculated conduction rate α, and a series circuit of the transistor T4 and the resistor R4 is The equivalent resistance and average power consumption of a variable resistance circuit are the conduction rate α.
changes according to
更に、４は前記コンデンサ端子電圧ｖｃの検出回路であ
り該端子電圧ｖｃとその電圧上昇抑制動作開始時点決定
用の所定電圧との差電圧を出力するものであり、５は前
記抵抗Ｒ４の抵抗値及び該抵抗に関する繰返し許容損失
特性と短時間許容損失特性等の諸データを６−０）マイ
コン回路に与える設定回路、７は前記マイコン回路６に
より演算された通流率αに従って前記トランジスタＴ、
に対する制御信号を出力するベース駆動回路である。Further, 4 is a detection circuit for the capacitor terminal voltage VC, which outputs the difference voltage between the terminal voltage VC and a predetermined voltage for determining the start point of the voltage rise suppression operation, and 5 is the resistance value of the resistor R4. and a setting circuit that provides various data such as repeated allowable loss characteristics and short-time allowable loss characteristics regarding the resistor to 6-0) a microcomputer circuit;
This is a base drive circuit that outputs control signals for the
なお前記マイコン回路６は、前記の電圧検出回路４と設
定回路５からの諸データと更には前記電動機制動時の減
速量と所要減速時間等の諸データを人力とし、前記電動
機制動時のコンデンサ端子電圧ｖｃの上昇値をその所定
値以内に抑制し且つその演算通流率における前記抵抗Ｒ
４の損失が該抵抗の許容損失以内にあること等の諸条件
を満たす還流率αを演算し前記放電用トランジスタＴ。The microcomputer circuit 6 manually inputs various data from the voltage detection circuit 4 and setting circuit 5, as well as various data such as the amount of deceleration and required deceleration time during braking of the motor, and inputs data to the capacitor terminal during braking of the motor. The resistor R suppresses the increase value of the voltage vc within a predetermined value and at the calculated conduction rate.
The discharge transistor T is calculated by calculating a reflux rate α that satisfies various conditions such as that the loss of 4 is within the allowable loss of the resistor.
を制御するものである。It controls the
本発明によれば、その負荷交流電動機に対する回生制動
機能を備えた電圧形インバータの回生電力放電回路にお
ける放電用トランジスタの制御に関し、前記インバータ
入力側の平滑コンデンサの端子電圧の上昇を適値・に抑
制し且つその演算通流率における回生電力放電抵抗にお
ける電力消費がその許容値以内となし得る通流率をマイ
コン回路で演算し該演算通流率により前記放電用トラン
ジスタをスイッチング制御することにより、前記電動機
の制動時における前記コンデンサ端子電圧の適度な抑制
と前記放電抵抗の焼損防止とを確実に行うことが可能と
なり、前記抵抗の容量の有効利用によるその容量低減と
前記インバータの安定運転とを図ることができる。According to the present invention, regarding the control of the discharging transistor in the regenerative power discharging circuit of the voltage source inverter equipped with a regenerative braking function for the load AC motor, the rise in the terminal voltage of the smoothing capacitor on the input side of the inverter is set to an appropriate value. By calculating with a microcomputer circuit a conduction rate that can be suppressed and at which the power consumption in the regenerative power discharge resistor at the calculated conduction rate can be within the permissible value, and controlling the switching of the discharge transistor according to the calculated conduction rate, It becomes possible to appropriately suppress the voltage at the capacitor terminals and prevent burnout of the discharge resistor when braking the electric motor, and to effectively utilize the capacitance of the resistor to reduce its capacity and ensure stable operation of the inverter. can be achieved.
第１図はこの発明の実施例を示す回路図である。
ｌ・・・整流器、２・・・（電圧形）インバータ、３・
・・交流電動機、４・・・電圧検出回路、５・・・設定
回路、６・・・マイコン回路、
７・・・ベース駆動回路、
ｔ
平滑用コンデンサ、
ａ
・・・放電用抵抗、
ａ
・・・放
第
図FIG. 1 is a circuit diagram showing an embodiment of the invention. l... Rectifier, 2... (voltage type) inverter, 3...
... AC motor, 4... Voltage detection circuit, 5... Setting circuit, 6... Microcomputer circuit, 7... Base drive circuit, t Smoothing capacitor, a... Discharging resistor, a ・・Radio map
Claims (1)
ンサに並列に接続され前記インバータの負荷電動機制動
時の回生電力放電回路を構成する回生電力放電用の抵抗
とトランジスタとの直列回路における該放電用トランジ
スタの制御方法であって、前記平滑コンデンサの端子電
圧がその設定値より大となった場合に、前記放電用抵抗
に対し前記電動機からの回生電力量を所定の制動時間内
に消費するに適当な等価抵抗値を与え且つその消費電力
がその許容損失特性指定値以下となるように適当に演算
された通流率に従って前記放電用トランジスタを導通・
しゃ断制御することを特徴とする回生電力放電用トラン
ジスタの制御方法。1) A discharging transistor in a series circuit of a regenerative power discharging resistor and a transistor, which is connected in parallel to a smoothing capacitor on the output side of the DC intermediate circuit of a voltage source inverter and constitutes a regenerative power discharging circuit when braking a load motor of the inverter. In the control method, when the terminal voltage of the smoothing capacitor becomes higher than its set value, the discharging resistor is controlled to have an appropriate amount of regenerated electric power from the electric motor consumed within a predetermined braking time. The discharging transistor is turned on and off according to a conduction rate appropriately calculated to give an equivalent resistance value and to make its power consumption less than the specified value of its allowable loss characteristics.
A method of controlling a regenerative power discharge transistor characterized by performing cut-off control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1167982A JP2737262B2 (en) | 1989-06-29 | 1989-06-29 | Control method of regenerative power discharge transistor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1167982A JP2737262B2 (en) | 1989-06-29 | 1989-06-29 | Control method of regenerative power discharge transistor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0336974A true JPH0336974A (en) | 1991-02-18 |
| JP2737262B2 JP2737262B2 (en) | 1998-04-08 |
Family
ID=15859616
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1167982A Expired - Lifetime JP2737262B2 (en) | 1989-06-29 | 1989-06-29 | Control method of regenerative power discharge transistor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2737262B2 (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4987285A (en) * | 1988-11-15 | 1991-01-22 | Cebora S.P.A. | Protection circuit for plasma-arc welding and cutting equipment operated with transferred or non-transferred arc |
| US5949575A (en) * | 1994-08-23 | 1999-09-07 | Olympus Optical Co., Ltd. | Binocular telescope |
| JP2008195150A (en) * | 2007-02-09 | 2008-08-28 | Nissan Motor Co Ltd | Drive control device for vehicle, drive control method for vehicle and overvoltage protection circuit |
| US7718338B2 (en) | 2005-03-29 | 2010-05-18 | Canon Kabushiki Kaisha | Charge control resin, and toner |
| US8120294B2 (en) | 2008-03-10 | 2012-02-21 | Hitachi Industrial Equipment Systems Co., Ltd. | Power transducer |
| US11691272B2 (en) | 2021-06-29 | 2023-07-04 | Seiko Epson Corporation | Motor drive circuit for motor and robot system |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58154380A (en) * | 1982-03-09 | 1983-09-13 | Mitsubishi Electric Corp | Controller for ac elevator |
-
1989
- 1989-06-29 JP JP1167982A patent/JP2737262B2/en not_active Expired - Lifetime
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS58154380A (en) * | 1982-03-09 | 1983-09-13 | Mitsubishi Electric Corp | Controller for ac elevator |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4987285A (en) * | 1988-11-15 | 1991-01-22 | Cebora S.P.A. | Protection circuit for plasma-arc welding and cutting equipment operated with transferred or non-transferred arc |
| US5949575A (en) * | 1994-08-23 | 1999-09-07 | Olympus Optical Co., Ltd. | Binocular telescope |
| US7718338B2 (en) | 2005-03-29 | 2010-05-18 | Canon Kabushiki Kaisha | Charge control resin, and toner |
| JP2008195150A (en) * | 2007-02-09 | 2008-08-28 | Nissan Motor Co Ltd | Drive control device for vehicle, drive control method for vehicle and overvoltage protection circuit |
| US8120294B2 (en) | 2008-03-10 | 2012-02-21 | Hitachi Industrial Equipment Systems Co., Ltd. | Power transducer |
| US8378599B2 (en) | 2008-03-10 | 2013-02-19 | Hitachi Industrial Equipment Systems Co., Ltd. | Power transducer |
| EP2106016A3 (en) * | 2008-03-10 | 2013-03-20 | Hitachi Industrial Equipment Systems Co., Ltd. | Power transducer |
| US11691272B2 (en) | 2021-06-29 | 2023-07-04 | Seiko Epson Corporation | Motor drive circuit for motor and robot system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2737262B2 (en) | 1998-04-08 |
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